/*
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 *  Point Cloud Library (PCL) - www.pointclouds.org
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 * Author : Christian Potthast
 * Email  : potthast@usc.edu
 *
 */

#pragma once

#include <pcl/ml/permutohedral.h>

#include <vector>

namespace pcl {

class PairwisePotential {
public:
  /** Constructor for PairwisePotential class. */
  PairwisePotential(const std::vector<float>& feature,
                    const int D,
                    const int N,
                    const float w);

  /** Deconstructor for PairwisePotential class. */
  ~PairwisePotential() = default;

  void
  compute(std::vector<float>& out,
          const std::vector<float>& in,
          std::vector<float>& tmp,
          int value_size) const;

protected:
  /// Permutohedral lattice
  Permutohedral lattice_;

  /// Number of variables
  int N_;

  /// Weight
  float w_;

  /// Norm
  std::vector<float> norm_;

public:
  std::vector<float> bary_;
  std::vector<float> features_;
};

} // namespace pcl
